Road marking-related driver assistance

Abstract

Driver assistance procedure for a road vehicle (1), in particular for a motor vehicle, comprising the steps: Determine (S5), based on data indicating the spatial location of a road marking (4) in the vehicle approach area (3), whether the vehicle (1) is likely to cross the road marking (4) with at least one wheel (5) during an already initiated or planned driving maneuver; and (S6) if this is the case, output at least one of the following signals (17): - a warning signal (17a) for the driver; - at least one control signal (17b) to one or more vehicle components (18) for automatic control of the driving maneuver in such a way that the detected road marking (4) is not crossed by a wheel (5) of the vehicle (1) or only to a reduced extent compared to the case without such control, - wherein at least one control signal (17b) is designed such that the driving maneuver is influenced in such a way that at least one wheel (5) of the vehicle (1) crosses a space between two separate surface elements (4a-c) of the road marking (4) during the driving maneuver.

Description

[0001] The present invention relates to the field of driver assistance methods and systems for improving driving safety in road vehicles, in particular motor vehicles.

[0002] Several such electronically controlled systems for improving driving safety or comfort are already known from the state of the art. These include, for example, anti-lock braking systems (ABS) or stabilization systems such as DSC (Dynamic Stability Control).

[0003] Furthermore, navigation systems that can determine a vehicle's current position with satellite accuracy down to a few meters are regularly used, especially in automobiles. Such navigation systems are generally based on the Global Positioning System (GPS) or alternative solutions, such as the European "Galileo" system or the Russian "GLONASS" system. These systems also typically include electronic map data, which enables route planning and guidance. These well-known navigation solutions can be either permanently installed in the vehicle or external solutions, such as apps on smartphones or laptops. However, current navigation systems are generally unable to pinpoint a vehicle's position with lane-level accuracy on multi-lane roads.

[0004] Furthermore, it is known to control vehicles at least partially or fully autonomously, at least temporarily. This means that the vehicle is then controlled at least partially (partially autonomously) or completely (fully autonomously) automatically by a technical system instead of the driver. In particular, it is also known to use such systems to plan the route to be traveled by the vehicle, at least for the immediately preceding segment of that route.

[0005] German patent application DE 10 2009 033 124 A1 describes a method for detecting a lane-change or lane-change maneuver by a vehicle ahead of the driver's own vehicle. The driver's own vehicle is equipped with a longitudinal guidance system and a camera that captures two-dimensional images of the area in front of the vehicle, detecting at least one lane marking that delimits the driver's current lane in a captured image.

[0006] The international patent application published as WO 2010 / 099 789 A1 describes a driver assistance system in which the environment of a vehicle is recorded by means of an electronic image and this electronic image is used to recognize a lane or roadway as well as objects in the vehicle's environment.

[0007] From DE 10 2010 014 946 A1, a motor vehicle is known that has a lane-keeping device. This device includes a camera that records the area in front of the vehicle. The recorded camera images are analyzed by means of an evaluation and control device to detect lane boundaries such as center lines or lateral lane markings and to determine the relative position of the motor vehicle to such a lateral lane boundary or to predict its future path. If the motor vehicle approaches a lane boundary sufficiently closely or crosses a lane boundary, the lane-keeping device actively intervenes in the steering of the vehicle in order to steer it back into the correct lane position either before or at least during the process of leaving the lane.

[0008] German patent DE 10 2009 048 493 A1 discloses a driver assistance system for a vehicle, comprising a brake control unit installed in the vehicle and a front camera positioned behind the windshield. Using image data from the front camera, the system can detect whether the vehicle is about to cross a lane marking or has already crossed one, and then activate the braking system.

[0009] German patent DE 10 2012 216 112 A1 describes a method for determining whether a vehicle's lane change was intentional or unintentional. A detected lane change can be evaluated, with an attribute assigned to it, so that the lane change is interpreted as either consciously initiated by the driver or as being caused unconsciously or by inattention. A hazard value can also be considered in the evaluation.

[0010] Against this background, the object of the present invention is to further improve driving safety and driving comfort for road vehicles, in particular for motor vehicles.

[0011] This is achieved according to the invention by the teaching of the independent claims. Preferred embodiments and further developments of the invention are the subject of the dependent claims.

[0012] The invention is based on the understanding that road markings often have reduced grip for the wheels or tires of road vehicles compared to the surrounding road surface. This can be particularly true when the road surface is wet or icy. The reasons for this can lie primarily in the material of the road markings, which is usually different from the road surface, their generally smoother surface structure, or their slight elevation relative to the surface of the surrounding road surface. The reduced grip can lead to driving situations in which the adhesion between a vehicle wheel and the road surface is reduced or even essentially lost when the vehicle wheel drives over a road marking.

[0013] A first aspect of the invention relates to a driver assistance method for a road vehicle, in particular for a motor vehicle. Based on data that characterizes the spatial position of a lane marking in front of the vehicle, the method determines whether the vehicle is likely to cross the lane marking with at least one wheel during an already initiated or planned driving maneuver. If this is the case, at least one of the following signals is output: (i) a warning signal for the driver; (ii) at least one control signal to one or more vehicle components for automatically influencing the driving maneuver, so that the detected lane marking is not crossed by a wheel of the vehicle, or only to a reduced extent compared to the case without such influence.According to the first aspect of the invention, the at least one control signal is designed in such a way that the driving maneuver is influenced in such a way that at least one wheel of the vehicle crosses a gap between two separate surface elements of the road marking during the driving maneuver.

[0014] A second aspect of the invention relates to a driver assistance system for a road vehicle, in particular a motor vehicle. Based on data that characterizes the spatial position of a lane marking in front of the vehicle, the system determines whether the vehicle is likely to cross the lane marking with at least one wheel during an already initiated or planned driving maneuver. If this is the case, at least one of the following signals is output: (i) a warning signal for the driver; (ii) at least one control signal to one or more vehicle components for automatically influencing the driving maneuver, so that the detected lane marking is not crossed by a wheel of the vehicle, or is crossed only to a reduced extent compared to the case without such influence.According to the second aspect of the invention, the at least one control signal controls a wheel brake of the vehicle in such a way that it does not act at all during a crossing of the road marking by the associated vehicle wheel, or at least only with reduced braking force compared to the case without such influence.

[0015] A third aspect of the invention relates to a driver assistance method for a road vehicle, in particular for a motor vehicle. Based on data that characterizes the spatial position of a lane marking in front of the vehicle, the method determines whether the vehicle is likely to cross the lane marking with at least one wheel during an already initiated or planned driving maneuver. If this is the case, at least one of the following signals is output: (i) a warning signal for the driver; (ii) at least one control signal to one or more vehicle components for automatically influencing the driving maneuver, so that the detected lane marking is not crossed by a wheel of the vehicle, or only to a reduced extent compared to the case without such influence.According to the third aspect of the invention, the at least one control signal controls a brake of the vehicle in such a way that a calculated or planned time for an upcoming braking maneuver is automatically modified.

[0016] For the purposes of this invention, a "road vehicle" or simply "vehicle" is understood to be a wheeled vehicle suitable, and in particular intended, for driving on a road. This includes, in particular, motor vehicles such as passenger cars, trucks, buses, and motorcycles of all kinds, as well as bicycles that are at least partially powered by muscle power.

[0017] A "driving maneuver" of a vehicle within the meaning of the invention is understood to be a movement of the vehicle relative to or on a traffic surface. In particular, the following vehicle movements are driving maneuvers within the meaning of the invention: entering a traffic surface, especially a road or lane, starting off, overtaking, passing or swerving to avoid an obstacle or another vehicle, turning, U-turns, or changing lanes. A driving maneuver is "planned" within the meaning of the invention when a system designed for semi-autonomous or fully autonomous control of the vehicle has determined or selected the driving maneuver to be performed by the vehicle.

[0018] "Influencing the driving maneuver" or "driving maneuver control" within the meaning of the invention refers to influencing, in particular warning, the driver of a vehicle in order to induce him to react in a way that influences a driving maneuver and / or to controlling suitable vehicle components for the direct technical influencing of a driving maneuver.

[0019] In the context of the invention, the “vehicle forecourt” of a vehicle is understood to mean the vehicle environment lying in front of the vehicle in the direction of travel, in particular an area of ​​a roadway located in this vehicle environment.

[0020] A "road marking" within the meaning of the invention is understood to be a marking – usually colored – on the surface of road traffic areas, serving to indicate traffic flow, categorize different traffic areas, or act as a traffic sign. A road marking can be applied to or embedded in the surface of a traffic area, particularly a road, using special road marking paint, or it can be applied to the surface of the traffic area by means of road marking devices (for example, temporary marking strips or metal caps).

[0021] For the purposes of the invention, "crossing" a road marking means at least partially crossing at least one surface element of the road marking by at least one vehicle wheel, whereby the vehicle wheel comes into direct contact with the road marking. Accordingly, a driving situation in which a vehicle wheel crosses a gap between different surface elements of the same road marking (e.g., a broken road marking) without touching at least one of the surface elements is not considered, for the purposes of the invention, to be "crossing" a road marking by that wheel.

[0022] A "warning signal" within the meaning of the invention is understood to be a signal that is perceptible to the driver, i.e., detectable by a human sense, and which is intended to alert the driver to a specific situation or to warn them of it. The signal can, in particular, be an acoustic, visual, haptic, or kinesthetic signal, or a combination of several such signals, which are emitted by one or more corresponding signal transmitters in the driver's vicinity, in particular on the vehicle or, optionally, inside the vehicle.

[0023] A "control signal" within the meaning of the invention is understood to be a technical signal, in particular an electrical, optical or mechanical signal, by means of which at least one vehicle component can be controlled. The signal can also be, in particular, a radio signal.

[0024] This method detects lane markings in advance of the vehicle before it crosses them and uses driving maneuvers to prevent one or more of the vehicle's wheels from crossing them. This reduces the likelihood of reduced or even significant loss of traction between the vehicle's wheels and the road surface, especially under adverse road conditions. This can be particularly advantageous for two-wheeled vehicles, especially motorcycles, as it reduces the risk of a fall due to slippage.A similar safety benefit can also be achieved with two- or multi-track vehicles, such as cars or trucks, when they are in driving situations at the limit where a loss of traction is imminent, for example, during an evasive maneuver or when very rapid acceleration is required to overtake a vehicle by changing lanes. The vehicle can thus choose a path with improved traction compared to an unaffected driving maneuver. This can, in particular, prevent unwanted swerving or increased braking distances. Furthermore, comfort for the driver and, if applicable, other vehicle occupants can be increased, as vibrations or noises that can occur when crossing a lane marking can be avoided or at least reduced. Thus, the problem is solved.

[0025] Preferred embodiments and further developments of the method are described below, which, unless expressly excluded, can be combined with each other and with the other aspects of the invention described below.

[0026] According to a first preferred embodiment, the data that characterizes the spatial location of a road marking in the vehicle's forecourt are provided on the vehicle by at least one of the following steps (variants): (i) Automatic detection of the spatial location of the road marking based on at least one sensor image that represents at least a section of the road in the vehicle's forecourt; (ii) Receiving the data via a data connection from an external information source.

[0027] In the first aforementioned variant of this embodiment, the at least one sensor image can be, in particular, a camera image, preferably a series of camera images, as is the case, for example, with a video sequence. Alternatively or additionally, other sensors capable of distinguishing a road marking from its surroundings are also conceivable. Detecting the spatial position of the image of the road marking within the vehicle's foreground or of the sensor images can then be carried out using known image analysis algorithms for identifying image objects. From this, in turn, with knowledge of the position and orientation of the image sensor on the vehicle, the actual spatial position of the road marking relative to the vehicle at a given time can be deduced using known methods. These calculations can preferably be performed using at least one microprocessor provided in the vehicle and programmed accordingly.In this way, the vehicle can autonomously detect lane markings in its foreground and adjust its driving maneuvers accordingly, without the need for external vehicle systems.

[0028] According to the second aforementioned variant of this embodiment, the data can, however, be received from an external information source, in particular via a mobile data connection, either instead of or in addition to the vehicle's own data. The external information source can, in particular, be a server containing data on the spatial location of the lane markings in the vicinity of the vehicle's position. This data can, in particular, have been previously acquired by other vehicles and transmitted to the server. Accordingly, in a further development of the method, it can also include a step in which data identifying the spatial location of the lane markings (detected according to the sensor image, as per the first variant) is sent to the external information source via a data connection.The use of the second option can be particularly advantageous if data acquisition according to the first option is either not possible at all due to the lack of a suitable sensor in the vehicle, or if the sensor's function is at least temporarily impaired. This can also be the case if the sensor itself is intact, but the sensor image has to be captured through a dirty or damaged vehicle window, leading to impairments in image acquisition and consequently problems in recognizing the lane markings. A combination of both options is also possible, especially to increase the availability or recognition rate of the data.

[0029] According to a further preferred embodiment, the method includes as additional steps: capturing the current spatial position of the vehicle, determining a lane-accurate map position of the vehicle by linking the current position with lane-accurate map data, classifying the detected lane markings based on the determined map position, and determining at least one of the signals to be output depending on a result of the classification. In this way, information on the type of lane markings present in this traffic area can be extracted from the map data and a corresponding classification can be carried out.Classification can include assigning the detected lane marking to at least one of the following categories: a solid line, a broken line, a directional arrow, a center line between two lanes, a lane edge marking, or another lane marking. This can offer the advantage that the signal to be issued can be selected depending on the type of lane marking detected, thus increasing the likelihood of success in influencing driving maneuvers to prevent crossing lane markings.For example, if the detected road marking is a lane edge marking, the signal issued to influence the driving maneuver can be selected differently to prevent a particularly dangerous departure from the roadway, indicating a stronger intervention than if the detected road marking is only a broken line or a directional arrow in the center of the lane. In a further development of this embodiment, classification can also be based on data acquired by an image sensor, which indicates the spatial location of the road marking. This can be used, among other things, to increase the accuracy of the classification.On the other hand, the data can also be used to locate gaps in road markings, such as broken lines, as precisely as possible in order to more accurately determine corresponding driving maneuvers where a vehicle wheel is to cross these gaps. Furthermore, if the data indicating the spatial location of the detected road marking is to be sent to an external information source, the combination of the data on the vehicle's current position and the data on the spatial location of the detected road marking allows reusable information or data to be sent to the external information source for other vehicles in accordance with the method (see second variant (ii) of the first embodiment above), making it available to other vehicles there.

[0030] According to a further preferred embodiment of the first aspect of the invention, the at least one control signal is configured such that it influences the driving maneuver in such a way that at least one wheel of the vehicle crosses a gap between two separate surface elements, in particular marking stripes of the road marking, during the maneuver. The road marking can, in particular, be a broken line, such as a center line. In this way, it can be prevented that the wheel drives over parts of such a multi-part road marking when crossing it. This can be particularly advantageous during overtaking maneuvers, evasive maneuvers, or lane changes, since a center line consisting of marking stripes must regularly be crossed in order to change to an adjacent lane.Especially with single-track vehicles, particularly motorcycles, this can increase driving safety. At least in extreme situations, this also applies to multi-track vehicles, especially four-wheeled or more-wheeled motor vehicles. In any case, these vehicles can also benefit from increased comfort, as the unevenness in the road surface caused by the wheel crossing the lane markings is eliminated, thus preventing additional noise or vibration effects.

[0031] According to a further preferred embodiment, the at least one signal to be output is determined based on condition data from which conclusions about the current road surface condition, in particular its grip, can be derived in the vicinity of the vehicle. The condition data can be, in particular, weather data or also sensor-detected physical parameters that characterize the current condition of the road surface. For example, weather data, especially regarding precipitation, temperature, or humidity, can indicate wetness, snow cover, or possible icing of the road surface. Similarly, this can be done using corresponding sensor-detected physical parameters, such as those obtained from optical images of the road surface or temperature measurements.In this way, the condition data on the current road surface condition can be taken into account to determine the signal to be issued, in particular so that the signal to be issued is designed in such a way that it can optimally counteract a safety hazard even under the current road surface conditions.

[0032] According to the second aspect of the invention, at least one control signal controls a wheel brake of the vehicle in such a way that, when the corresponding vehicle wheel crosses the lane marking, the brake does not act at all or, at least, acts with reduced braking force compared to the situation without such influence. In this way, a safety benefit can be achieved even in situations where crossing the lane marking cannot be completely prevented. By weakening or even eliminating the braking effect, skidding or sliding of the wheel on the lane marking can be avoided, or at least reduced. In addition to the resulting safety benefit, this can also contribute to increased comfort, since skidding of the vehicle is generally perceived as unpleasant.

[0033] According to the third aspect of the invention, the at least one control signal controls a vehicle brake in such a way that a calculated or planned time for an upcoming braking maneuver is automatically modified. This represents a potentially advantageous embodiment of influencing driving maneuvers during a braking process. The braking process can thus be adjusted so that crossing a lane marking can be avoided, or at least such crossing occurs to a lesser degree than would be the case without the influence of the control signal. In particular, the modifications to the braking maneuver triggered by the control signal can be metered or implemented so precisely and / or over such a period of time that a substantially continuous braking effect occurs without sudden changes in braking force ("jerking").

[0034] According to a further preferred embodiment, the control signal activates at least one of the following vehicle components to automatically influence the driving maneuver: a braking system, a drivetrain, a steering system, the chassis, a stability system (in particular ESP), or damping (in particular shock absorption or steering damping). It can also be particularly advantageous to achieve the desired driving maneuver influence by one or more control signals that activate two or more of the aforementioned vehicle components in such a way that their interaction results in the intended driving maneuver influence. In this way, a wide range of different driving maneuver influences can be realized, enabling effective adaptation to a wide variety of situations and road conditions.

[0035] According to a further preferred embodiment, the vehicle is controlled semi-autonomously or fully autonomously by at least one control device. In particular, this can be used in combination with the method described above within the framework of an overtaking or evasive steering assist function of the vehicle, in which such a driving maneuver is carried out semi- or fully automatically. In this way, automated driving maneuvers can also be improved with regard to driving safety and / or driving comfort.

[0036] A fourth aspect of the invention relates to a driver assistance system for a road vehicle, in particular for a motor vehicle. The system has a data interface for receiving data that indicates the spatial location of a lane marking in front of the vehicle. Furthermore, an analysis unit is provided which is adapted to determine whether the vehicle is likely to cross the lane marking with at least one wheel during an already initiated or planned driving maneuver.Furthermore, a signaling unit is provided which is adapted such that, if the analysis unit determines that the lane marking is likely to be crossed by at least one vehicle wheel during the driving maneuver, it outputs at least one of the following signals: (i) a warning signal for the driver, (ii) at least one control signal to one or more vehicle components to automatically influence the driving maneuver so that the lane marking is not crossed by a wheel of the vehicle, or is crossed only to a reduced extent compared to the case without such influence. According to the fourth aspect of the invention, the driver assistance system is configured to perform a method according to one of the first three aspects.

[0037] Preferred embodiments and further developments of the driver assistance system are described below, which, unless expressly excluded, can be combined with each other and with the other aspects of the invention as desired.

[0038] According to a preferred embodiment, the data interface is adapted to receive data via a data connection to an external data source, which may in particular be a sensor, such as a camera or a sensor for recording physical parameters of the road surface condition.

[0039] According to another preferred embodiment, two or more of the aforementioned system components are integrated within a single functional unit. Alternatively, the system can also be composed of discrete system components.

[0040] According to a further preferred embodiment, the system also includes a detection unit adapted to automatically detect the spatial position of a lane marking in the area in front of the vehicle based on at least one sensor image that represents at least a section of the roadway in front of the vehicle. The detection unit can, in particular, include at least one microprocessor and a memory in which a corresponding program for execution on the at least one microprocessor is stored.

[0041] In another preferred embodiment, one or more sensors for capturing a sensor image are themselves part of the system.

[0042] According to further preferred embodiments, the system may be suitable for carrying out the method according to one of the first four aspects of the invention, in particular according to one or more of its embodiments or variants thereof.

[0043] Accordingly, the functionality of the system as a whole, as well as its system components, can be derived in particular from the corresponding process steps described above.

[0044] Finally, a fifth aspect of the invention relates to a road vehicle which has a driver assistance system according to the fourth aspect of the invention, in particular according to one or more of its embodiments or variants.

[0045] Further advantages, features and applications of the present invention will become apparent from the following description in conjunction with the figures.

[0046] This shows: Fig. 1 schematically a road vehicle according to a preferred embodiment of the present invention on a roadway with road markings; Fig. 2 schematically a driver assistance system and its connection to various data sources as well as to vehicle components to be controlled by the system, according to a preferred embodiment of the present invention; Fig. 3 a flowchart for a driver assistance system according to a preferred embodiment of the present invention; Fig. 4 an exemplary schematic representation of a lane change or evasive maneuver when using the driver assistance method or system, according to a preferred embodiment of the present invention with a motorcycle as the vehicle; Fig. 5 an exemplary schematic representation of a braking maneuver at a traffic light system or junction when using the driver assistance method or system, according to a preferred embodiment of the present invention with a motorcycle as the vehicle;

[0047] In Fig. Figure 1 shows an exemplary and schematic representation of a road vehicle 1 according to a preferred embodiment of the invention. The vehicle 1 is located on a roadway with various lane markings 4. On the right side, a solid line is shown, on the left side a dashed line with surface elements 4a, 4b, and 4c, and in the middle a directional arrow, each representing a lane marking 4. The vehicle 1 is moving in the direction of the directional arrow of the lane marking, and the associated vehicle approach area 3 is sketched as a dashed line. In the illustrated case, the vehicle 1 is a four-wheeled motor vehicle 5. Brakes, or a braking system 19, a drive train 20, a steering system 21, and a chassis 22 are also shown schematically as vehicle components.Additionally, the vehicle has at least one sensor 9, which can in particular be a camera, suitable and arranged for capturing images of the road surface, especially in the area in front of the vehicle 3. From the sensor image provided by the sensor 9, or from several corresponding sensor images, conclusions can be drawn about the spatial position of the lane markings 4 and the condition of the road surface. Furthermore, the vehicle 1 includes a control device 2 for semi-autonomous or fully autonomous control of the vehicle 1. Finally, the vehicle 1 also contains a driver assistance system 8 according to the invention, which is connected to an external information source 6 via a data connection 7.

[0048] In Fig. Figure 2 schematically shows the driver assistance system 8 itself and its connection to various data sources as well as to vehicle components 18 controlled by the driver assistance system 8 according to a preferred embodiment of the present invention. The driver assistance system 8 comprises a data interface 10, a detection unit 11, an analysis unit 13, and a signaling unit 14, which are connected to each other, in particular via a bus, such as a CAN bus, to enable data exchange. Via the data interface 10 and corresponding data connections 7, the driver assistance system 8 is connected to at least one sensor 9, a position determination unit 12, in particular a navigation system, the control device 2, and one or more external data sources 6 for providing status data 15 that characterize the road condition, as well as data 16 that indicate the spatial position of a lane marking.Additionally or alternatively, such data can be acquired and provided by sensor 9. The analysis unit 13 is designed and adapted to determine whether the vehicle 1 is likely to cross the lane marking 4 with at least one wheel 5 during an already initiated or planned driving maneuver. The signaling unit 14 connected to the analysis unit 13 is adapted so that, if the analysis unit 13 determines that the lane marking is likely to be crossed with at least one wheel 5 during the driving maneuver, it outputs at least one signal 17. The signal 17 can be a warning signal 17a to the driver, e.g., an acoustic, visual, or kinesthetic signal, or a control signal 17b for one or more vehicle components 18, or a combination of both. The vehicle components 18 can be, as already described above, in particular a brake or...This could be a braking system 19, a drive train 20, a steering system 21 or the chassis 22 or individual functional units thereof.

[0049] In Fig. Figure 3 shows a flowchart illustrating a driver assistance method according to a preferred embodiment of the present invention. In the method, a current spatial position of the vehicle 1 is acquired in a first step S1. This can be done, in particular, by means of a satellite-based navigation system. Using this position, a map position for the vehicle 1 can then be determined based on appropriate electronic map data that covers the vehicle 1's position. The map data contains a lane-accurate road model, and the positioning is also so precise that the current position of the vehicle 1 can be acquired with lane-level accuracy.

[0050] In a further step S2, data 16, which characterizes the spatial location of a road marking 4, and condition data 15 on the current road surface condition, in particular its temperature and humidity or other physical parameters that can influence its grip, are provided. This data and condition data can be received from an external data source 6, in particular via a suitable data connection 7. Alternatively or additionally, the spatial location of a road marking 4 and the road surface condition can also be detected on the vehicle itself based on at least one sensor image. The sensor 9 for capturing such a sensor image can be, in particular, a camera, but temperature sensors, infrared sensors, or other suitable sensor types can also be used additionally or alternatively.In particular, when combining map data with a sufficiently high-resolution sensor image, especially one or more camera images, the spatial location of detected lane markings 4 relative to the current vehicle position can be determined with high accuracy, especially to the centimeter.

[0051] Such data detected on the vehicle itself by means of at least one sensor 9, as well as the current position of the vehicle 1, can in a further step S3 be sent back to preferably an external data source, such as a server, in order to be available there as position-related data for other vehicles as well.

[0052] In a further step S4, the detected lane marking 4 is classified based on the determined map position and, where available, on the sensor image. This allows, for example, differentiation between solid lines at the edge of the road, solid dividing lines between lanes indicating a no-overtaking zone, or broken lines separating different lanes. Other lane markings, such as hatched areas or directional arrows, can also be detected and classified accordingly.

[0053] In a subsequent step S5, the available data is used to determine whether vehicle 1 is likely to cross the detected lane marking 4. Additional vehicle data, in particular speed, steering wheel position, accelerator pedal position, or similar information, can also be used for this purpose.

[0054] If it is determined that the lane marking is not likely to be crossed by any wheel 5 of vehicle 1 (S5 - no), the process returns to step S1 and a new iteration can begin. Otherwise, i.e., if a likely crossing is determined (S5 - yes), a further step S6 is performed, in which a corresponding signal 17 is determined or selected depending on the result of the classification.

[0055] The signal 17 is then output in a further step S7 in the form of at least one warning signal 17a and / or at least one control signal 17b or a combination of both. The process can then return to step S1.

[0056] In a subsequent step S5, the available data is used to determine whether vehicle 1 is likely to cross the detected lane marking 4. Additional vehicle data, in particular speed, steering wheel position, accelerator pedal position, or similar information, can also be used for this purpose.

[0057] In Fig. Figure 4 is an exemplary schematic representation of a lane change or evasive maneuver when using the driver assistance method or system, according to a preferred embodiment of the present invention with a motorcycle as vehicle 1. A two-lane road is shown with laterally delimiting lane markings 4, which are designed as solid lines, and with a center line designed as a broken lane marking line, which includes, among other things, the individual surface elements 4a and 4b. Particularly in fully or partially automated driving, lane changes are normally planned in advance by the corresponding control device 2 for the autonomous control of the vehicle 1.If the exact vehicle position and the spatial location of the lane marking are available, the vehicle can be automatically controlled during a lane change so that its wheels 5 pass between individual surface elements, and in the case of a single-track vehicle, specifically between the same surface elements 4a and 4b of the center line, without touching these surface elements themselves. Fig. Figure 4 illustrates this with the solid line 25, which shows the motorcycle's path when using the driver assistance system or method according to the invention. The dashed line 24, for comparison, represents the hypothetical path without the use of the driver assistance system or method. Even in the case of curves that are misjudged by the driver, making crossing the center line unavoidable, the driver assistance system or method can ensure that, when crossing the center line, the wheels 5 of the vehicle 1, in particular a motorcycle, do not cross the lane marking itself, but rather pass between individual surface elements 4a, 4b. This can reduce the risk of accidents or falls, especially with single-track vehicles.

[0058] Evasive maneuvers can be performed in a similar manner. In a dangerous situation during semi- or fully autonomous operation, a mode is provided in which the vehicle 1 changes lanes to, for example, avoid colliding with an obstacle or evading a suddenly occurring hazard (e.g., a ball 23 rolling onto the road). According to the invention, the vehicle 1 can also be automatically controlled in this case to avoid the safest route, thereby avoiding crossing lane markings 4 or 4a, 4b as far as possible. This may also minimize the need for additional control interventions by anti-lock braking systems (ABS) or stability control systems (e.g., ESP), since the road grip is significantly better than if the vehicle 1 had to brake or even steer on a lane marking to perform the evasive maneuver.

[0059] Similar principles can apply in other traffic situations. For example, in Fig.Figure 5 shows an exemplary schematic representation of a braking maneuver at a traffic light or intersection when using the driver assistance method or system, according to a preferred embodiment of the present invention with a motorcycle as the vehicle. Here, a two-lane roadway for a given direction of travel is present, and the individual lanes of this roadway are marked by corresponding lane markings 4 in the form of directional arrows at an intersection. In this case, the path of the vehicle 1, as it approaches the intersection, can be influenced such that when it stops at a stopping point 25a at the intersection, it is positioned so that none of its wheels 5 come to rest on any of the directional arrows. In particular, the path 25 can be selected such that none of the directional arrows or any other lane marking 4 are crossed by any wheel 5 of the vehicle 1 before reaching the intersection.This method can shorten the braking distance, which can be particularly important for safety in the event of emergency braking, such as when a traffic light unexpectedly turns red or when cross traffic at an intersection is detected too late. It also helps prevent wheel spin or skidding when accelerating again. For comparison, the fictitious route 24 of vehicle 1 and the corresponding stopping point 24a are shown here again without the use of the driver assistance system 8 or procedure.

[0060] While at least one exemplary embodiment has been described above, it should be noted that a large number of variations exist. It should also be noted that the described exemplary embodiments are merely non-limiting examples, and it is not intended to restrict the scope, applicability, or configuration of the devices and methods described herein. Rather, the preceding description will provide the person skilled in the art with guidance for implementing at least one exemplary embodiment. It is understood that various modifications to the function and arrangement of the elements described in an exemplary embodiment can be made without derogating from the subject matter defined in the appended claims and their legal equivalents. Reference symbol list 1 Road vehicle or simply vehicle 2 Control device 3 Vehicle apron 4 lane markings 4a - c Surface elements of a road marking 5 vehicle wheel 6. External vehicle information source 7 Data connection 8 Driver assistance systems 9 Sensor 10 Data interface 11 Detection unit 12 Position determination unit 13 Analysis Unit 14 Signaling unit 15 status data 16 data points that characterize the spatial location of a road marking 17 Signal 17a Warning signal 17b Control signal 18 vehicle components 19 Brake or braking system, in particular wheel brake 20 Powertrain 21 Steering system 22 Chassis 23 Obstacle 24 journey without driver assistance 24a Stopping point of the vehicle without driver assistance 25 Driving route with driver assistance 25a Stop point of the vehicle with driver assistance

Claims

[1] Driver assistance system for a road vehicle (1), in particular for a motor vehicle, comprising the steps: Determine (S5), based on data indicating the spatial location of a road marking (4) in the vehicle approach area (3), whether the vehicle (1) is likely to cross the road marking (4) with at least one wheel (5) during an already initiated or planned driving maneuver; and (S6) if this is the case, output at least one of the following signals (17): - a warning signal (17a) for the driver; - at least one control signal (17b) to one or more vehicle components (18) for automatic control of the driving maneuver in such a way that the detected road marking (4) is not crossed by a wheel (5) of the vehicle (1) or only to a reduced extent compared to the case without such control, - wherein at least one control signal (17b) is designed such that the driving maneuver is influenced in such a way that at least one wheel (5) of the vehicle (1) crosses a space between two separate surface elements (4a-c) of the road marking (4) during the driving maneuver. [2] Method according to claim 1, wherein the data which characterize the spatial position of a road marking (4) in the vehicle area (3) are provided on the vehicle (1) by at least one of the following steps (S2): - Automatic detection of the spatial position of the road marking (4) based on at least one sensor image which represents the roadway in the vehicle forecourt (3) at least partially; - Receiving the data via a data connection (7) from an external information source (6). [3] Method according to claim 2, wherein data which characterize the spatial position of the road marking (4) detected on the basis of the sensor image are sent via a data connection (7) to the vehicle-external information source (6) (S3). [4] Method according to any of the preceding claims, comprising the further steps: Capturing (S1) a current spatial position of the vehicle (1) and Determining a lane-accurate map position of the vehicle (1) by linking the current position with lane-accurate map data; Classifying (S4) the detected lane marking (4) based on the determined map position and Determine (S6) at least one of the signals (17) to be output depending on a result of the classification. [5] Method according to claim 4, wherein the classification comprises assigning the detected road marking (4) to at least one of the following classes: - a solid line; - a broken line; - a directional arrow; - a center line between two lanes; - a road edge marking - any other road marking. [6] Method according to one of the preceding claims, wherein the two separate surface elements (4a-c) are marking strips. [7] Method according to one of the preceding claims, wherein the at least one signal (17) to be output is determined as a function of state data (15) from which conclusions can be drawn about the current road condition in the vicinity of the vehicle (1). [8] Driver assistance procedure for a road vehicle (1), in particular for a motor vehicle, comprising the steps: Determine (S5), based on data indicating the spatial location of a road marking (4) in the vehicle approach area (3), whether the vehicle (1) is likely to cross the road marking (4) with at least one wheel (5) during an already initiated or planned driving maneuver; and (S6) if this is the case, output at least one of the following signals (17): - a warning signal (17a) for the driver; - at least one control signal (17b) to one or more vehicle components (18) for automatic control of the driving maneuver in such a way that the detected road marking (4) is not crossed by a wheel (5) of the vehicle (1) or only to a reduced extent compared to the case without such control, - wherein at least one control signal (17b) controls a wheel brake (19) of the vehicle (1) in such a way that it does not act at all during the crossing of the road marking (4) by the associated vehicle wheel (5) or at least with reduced braking force compared to the case without such influence. [9] Driver assistance system for a road vehicle (1), in particular for a motor vehicle, comprising the steps: Determine (S5), based on data indicating the spatial location of a road marking (4) in the vehicle approach area (3), whether the vehicle (1) is likely to cross the road marking (4) with at least one wheel (5) during an already initiated or planned driving maneuver; and (S6) if this is the case, output at least one of the following signals (17): - a warning signal (17a) for the driver; - at least one control signal (17b) to one or more vehicle components (18) for automatic control of the driving maneuver in such a way that the detected road marking (4) is not crossed by a wheel (5) of the vehicle (1) or only to a reduced extent compared to the case without such control, - wherein at least one control signal (17b) controls a brake (19) of the vehicle (1) such that a calculated or planned time for an upcoming braking maneuver is automatically modified. [10] Method according to one of the preceding claims, wherein the control signal (17b) controls at least one of the following vehicle components (18) of the vehicle (1) to automatically influence the driving maneuver: - a braking system (19); - a powertrain (20); - a steering system (21); - the chassis (22); - a stability system, in particular ESP; - damping, especially shock absorption; [11] Method according to one of the preceding claims, wherein the vehicle (1) is controlled semi-autonomously or fully autonomously by at least one control device. [12] Driving assistance system for a road vehicle (1), in particular a motor vehicle, comprising: a data interface (7) for receiving data which indicates the spatial location of a road marking (4) in the vehicle approach area (3); an analysis unit (13) adapted to determine whether the vehicle (1) is likely to cross the road marking (4) with at least one wheel (5) during a driving maneuver that is already underway or planned; and a signaling unit (14) adapted to output at least one of the following signals (17) when the analysis unit (13) determines that the road marking (4) is likely to be crossed by at least one vehicle wheel (5) during the driving maneuver: - a warning signal (17a) for the driver; - at least one control signal (17b) to one or more vehicle components (18) of the vehicle (1) for automatic control of the driving maneuver in such a way that the road marking (4) is not crossed by a wheel (5) of the vehicle (1) or only to a reduced extent compared to the case without such control - wherein the driver assistance system is configured to perform a method according to any one of claims 1 to 11. [13] Driver assistance system according to claim 12, further comprising: a detection unit (11) adapted to automatically detect the spatial position of a road marking (4) in the vehicle forecourt (3) on the basis of at least one sensor image which represents at least a section of the road in the vehicle forecourt (3). [14] Road vehicle (1) comprising a driver assistance system according to one of claims 12 or 13.

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